Self-moving robot movement boundary determining method

ABSTRACT

In a self-moving robot movement boundary delimiting method, in step 100: setting up three or more base stations in a movement area of a self-moving robot, and establishing a coordinate system; in step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path, and determining the coordinates of the sample points in the coordinate system; and in step 300: delimiting a boundary according to the coordinates of the gathered sample points, and setting the self-moving robot to work inside or outside the boundary. The present invention achieves a regional division by distance measurement and positioning based on stationary base stations, thus improving accuracy and convenience compared to the prior art.

FIELD OF THE INVENTION

The present invention relates to a self-moving robot movement boundarydelimiting method, which belongs to a technical field of self-movingrobot movement control.

BACKGROUND ART

The self-moving robot is a typical robot, including various types suchas sweeping robot, mowing robot, home service robot, surveillance robotand the like, and is very popular with customers for that it ischaracterized as being capable of walking freely. How to effectivelycontrol the movement of the self-moving robot within a certain workingspace is a key issue. In order to solve the problem of how to restrictthe movement range of the self-moving robot, the self-moving robot needsto divide its movement region into blocks. The existing regionaldivision methods comprise Satellite Positioning method, MarkerSetting-up method, Spatial Infrared Signal Guidance method and the like.However, these existing regional division methods have the problems oflow precision and cumbersome marker arrangement, and lack universalitybecause their applications need to be particularly set according to thespecific requirements of the actual environment. The inventionapplication published as CN 101109809A discloses positioning device,system and method based on a direction control photosensitive array, inwhich the real-time positioning of moving objects in a house or a smallarea is realized using sine theorem calculation by three infrared signalemitters fixed in the same plane and a signal receiver mounted on therobot device. However, such method only can realize the real-timepositioning of the robot, and has a low accuracy of calculation andcannot realize the function of delimiting movement boundary.

SUMMARY OF INVENTION

In view of the deficiencies in the prior art, the object of the presentinvention aims to provide a self-moving robot movement boundarydelimiting method, which achieves regional division by distancemeasurement and positioning based on stationary base stations and hasobvious advantages in term of either accuracy or convenience compared tothe prior art.

The object of the present invention is achieved by the followingtechnical solutions.

A self-moving robot movement boundary delimiting method comprises thefollowing steps:

step 100: setting up three or more base stations in a movement area of aself-moving robot, and establishing a coordinate system;

step 200: artificially planning a movement path in the movement area ofthe self-moving robot, gathering sample points on the path, anddetermining the coordinates of the sample points in the coordinatesystem; and

step 300: delimiting a boundary according to the coordinates of thegathered sample points, and setting the self-moving robot to work insideor outside the boundary.

In the step 100, establishing the coordinate system by using one of thebase stations as an origin, and calculating distances between therespective base stations by measuring signal transmission time betweenthe respective base stations, whereby determining the coordinates of therespective base stations in the coordinate system.

In the step 200, determining the coordinates of the sample pointsspecifically comprises calculating the coordinates of the sample pointsin the coordinate system by measuring signal transmission time betweenthe self-moving robot and the respective base stations, and methods forthe calculation include Geometric Positioning method, Least Squaresmethod or Time Difference Of Arrival method. In the step 200, theartificially planned movement path may be implemented in various ways,specifically including: a path formed by controlling the self-movingrobot to move by a user via an interactive device; or a path formed bymoving a positioning device provided for the self-moving robot in themovement area after the positioning device is detached from theself-moving robot by the user.

More specifically, the gathering of the sample points in the step 200 isan interval gathering which is performed automatically at a preset timeinterval by the self-moving robot being moved, or is a random gatheringwhich is performed artificially.

The present invention establishes the coordinate system by setting upthe base stations. The coordinate system may be a plane coordinatesystem or a three-dimensional coordinate system. In the differentcoordinate systems, the shapes of the delimited boundaries may differ.

Specifically, the coordinate system in the step 100 is a planecoordinate system established using three base stations, and a plane inwhich the plane coordinate system is located is coplanar with themovement area of the self-moving robot.

The boundary in the step 300 is an open or closed line formed by thesample points.

The coordinate system in the step 100 is a three-dimensional coordinatesystem established using four base stations.

The step 300 specifically comprises vertically or non-verticallyprojecting a set of the gathered sample points onto a plane, in whichthe movement area of the self-moving robot is located, to form mappedpoints, and the boundary is an open or closed line formed by connectingthe mapped points.

The boundary in the step 300 is a plane determined using three samplepoints, or a plane fitted out using three or more sample points.

The boundary in the step 300 is a surface of a three-dimensional spaceconstructed using a plurality of sample points by interpolating orfitting the sample points into a standard three-dimensional shape or acombination of standard three-dimensional shapes.

The standard three-dimensional shape is cube, cuboid, sphere ortriangular pyramid.

In sum, the present invention delimits a movement boundary by distancemeasurement and positioning based on stationary base stations, and hasobvious advantages in term of either accuracy or convenience compared tothe prior art.

The technical solutions of the present invention will be described indetail with reference to the accompanying drawings and the specificembodiments.

DESCRIPTION OF ATTACHED DRAWINGS

FIG. 1 is a schematic diagram of a plane coordinate system establishedaccording to the present invention;

FIG. 2 is a schematic diagram of a first embodiment of the presentinvention;

FIG. 3 is a schematic diagram of a second embodiment of the presentinvention;

FIG. 4 is a schematic diagram of a third embodiment of the presentinvention;

FIG. 5 is a schematic diagram of a fourth embodiment of the presentinvention;

FIG. 6 is a schematic diagram of a fifth embodiment of the presentinvention;

FIG. 7 is a schematic diagram of a sixth embodiment of the presentinvention; and

FIG. 8 is a schematic diagram of a seventh embodiment of the presentinvention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

The present invention provides a self-moving robot movement boundarydelimiting method which delimits a movement boundary by the distancemeasurement and positioning based on stationary base stations. To bespecific, such automatic robot positioning system comprises aself-moving robot (MR) and three or more base stations (BS). Theself-moving robot and the base stations each are provided withrespective wireless signal transceivers. In order to ensure reliabilityof measurement, the wireless signal to be transmitted may be infraredray, ultrasonic, laser, electromagnetic wave, etc., and the transmissionspeed k thereof is known. In a normal operation, the self-moving robotand the base stations transmit the wireless signals, receive the signalsfrom each other and measure the transmission time t of the signals. Thedistances L between the base stations and the distances S between theself-moving robot and the respective base stations can be calculated byk×t.

FIG. 1 is a schematic diagram of a plane coordinate system establishedaccording to the present invention. As shown in FIG. 1, the planecoordinate system is established as follows. First, according to theprinciple of determining a plane using three points, a plane isdetermined using three base stations BS1, BS2 and BS3, and a coordinatesystem is established in the plane. The first base station BS1 is anorigin (0, 0) of the coordinate system, and a straight line on which thefirst base station BS1 the second base station BS2 are located may beset as an X-axis while a straight line vertical to the X-axis is aY-axis. With the above formula k×t, the relative distances L between therespective base stations are calculated, hereby obtaining the respectivecoordinates of the base stations in the plane coordinate system.

The above method of establishing the coordinate system is relativelysimple. In practice, it is not necessary to set one of the base stationsas the origin and to determine the X-axis using the first and secondbase stations. For example, under the assumption that the coordinates ofthe first base station are (X₁, Y₁) the coordinates of the second basestation shall be (X₁+L₁×cos A, Y₁+L₁×sin A), where L1 is the distancebetween the first and second base stations, and A is the angle betweenthe connection line of the first and second base stations and theX-axis. X1, Y1 and A may be arbitrarily selected to determine thecoordinate system. Once the coordinate system is established, thecoordinates of the respective base stations can be determined.

Of course, a plane coordinate system can be established using three basestations and a three-dimensional coordinate system can be establishedusing four base stations. Further, it is to be noted that if the planecoordinate system is established using three base stations, it isnecessary that the three base stations are not on the same line. Inaddition, the number of the base stations to be set up may be increasedso as to improve the accuracy of calculation.

As shown in conjunction with FIG. 1, the distances S between theself-moving robot and the respective base stations are obtained bycalculation. For example, in the case of the plane coordinate systemestablished using three points, S1 is calculated according to themeasured time t1 of the signal from the self-moving robot to the firstbase station as well as the known transmission speed. S2 and S3 can becalculated in the similar manner. As shown in FIG. 1, since thecoordinates of the first base station BS1 are (0, 0), and the distancebetween the first base station BS1 and the second base station BS2 isL1, the coordinates of the second base station BS2 are (L1, 0). Theangle A can be calculated according to S1, S2 and L1, and in turn thecoordinates of the MR can be calculated according to S3. The calculationmethod utilized above may be referred to as the Geometric Positioningmethod.

Further, the coordinates of the MR can also be calculated by the LeastSquares method according to the following formula:

(x−x ₁)²+(y−y ₁)² =r ₁ ² ,r ₁ =t ₁ ×k,

wherein the coordinates of the first base station BS1 are (x1, y1), thecoordinates of the self-moving robot are (x, y), t1 is the transmissiontime of the signal from the self-moving robot to the first base station,and r1 is the distance from the self-moving robot to the first basestation. Similarly, the formulas corresponding to the other two basestations can be obtained. The values of x and y (that is, thecoordinates of MR) can be found once t1, t2 and t3 are measured.

In addition, a Time Difference Of Arrival (i.e., “TDOA” for short)method may be used to determine the coordinates of the MR.

The first base station is assumed to be farther from the MR than thesecond base station, and the formula is written out as below:

√{square root over (((x−x ₁)²+(y−y ₁)²))}−√{square root over (((x−x₂)²+(y−y ₂)²))}=(t ₁ −t ₂)×k

wherein, the coordinates of the first base station are (x1, y1), thecoordinates of the second base station are (x2, y2), the coordinates ofthe self-moving robot are (x, y), and t1 and t2 are the transmissiontime of the signal from the self-moving robot to the first base stationand the second base station, respectively.

Similarly, the rest two formulas can be written out. Once t1, t2 and t3are measured, the values of x and y (that is, the coordinates of MR) canbe found.

The three methods described above can locate the movement of the robot.In order to obtain a boundary desired by the user, it is required toartificially manipulate the MR to move and gather sample points P on themovement path in advance. Specifically, the user may walk while holdingthe MR or a positioning device which has been detached from the MR andwhich is equipped with a signal transceiver, or may control the MR tomove via an interactive device. The sample points should be gathered atintervals during the movement. The user may set the time interval forgathering the sample points by the interactive device so that the MR canautomatically gather the sample points at this time interval, or maymanually manipulate corresponding function keys to gather the samplepoints.

After the sample points P are obtained, the sample points may beconnected according to the boundary delimiting modes preset on theinteractive device. The boundary delimiting mode refers to theconnection mode of the sample points. For example, the sample points maybe connected sequentially by straight lines or curves to form aboundary, or the sample points are used to be fitted into a curvedboundary, or the first and last points are connected to form a closedboundary, or the sample points are used to obtain a straight boundary ofwhich both ends can be extended infinitely. The boundary delimiting modemay be artificially designed and programmed into the MR for easyselection by the user. The interactive device comprises a selectorbutton or a selector indicator screen that is provided on the surface ofthe MR, or a remote control provided for the MR, or a mobile terminal(e.g., a mobile phone, a tablet, etc.) that communicates with the MR viaBluetooth or Wi-Fi.

After the boundary is delimited using the sample points, the MR isprogrammed and set to be prohibited from crossing the boundary, so thatit can operate inside or outside the delimited boundary.

First Embodiment

FIG. 2 is a schematic diagram of the first embodiment of the presentinvention. As shown in FIG. 2, in the present embodiment, theself-moving robot movement boundary delimiting method mainly comprisesthe following steps:

first, determination of plane coordinate system: placing three basestations BS in the movement area A of the self-moving robot MR, suchthat the three base stations BS are assuredly not on the same line; anddetermining a plane coordinate system using the three base stations BS,wherein the plane coordinate system is located in the movement area A ofthe self-moving robot.

second, obtainment of sample points: obtaining sample points P by MRautomatic gathering or by artificial random gathering; and calculatingcoordinates of the respective sample points by Geometric Positioningmethod, Least Squares method or Time Difference Of Arrival (i.e., “TDOA”for short) method.

last, completion of boundary delimiting: delimiting a straight or curvedboundary according to the gathered sample points; and then achieving aregional division by setting the MR to be prohibited from crossing theboundary. In the embodiment shown in FIG. 2, the curve X is determinedby the four gathered sample points P1 to P4. After the MR is set to beprohibited from crossing the curve X, as shown by a plurality ofstraight lines Y with arrows in FIG. 1 which shows the actual movementposition of the MR, the MR only moves at one side of the curve X, anddoes not cross the curve X to move at the other side.

Of course, if there are additional obstacles such as walls in themovement area A, the additional obstacles may be combined with the curveX to achieve a completely separated regional division. Since both endsof the curve X are not closed at the boundary with the movement area A,it is preferable to connect the curve X and the obstacles or to addother design functions so that the regional division is more complete.In the case of a straight line determined using a number of samplepoints, the system may assume that the straight line can be infinitelyextended from its endpoints until it intersects with the boundary withthe movement area A to form a closed divided region.

Second Embodiment

FIG. 3 is a schematic diagram of the second embodiment of the presentinvention. As shown in FIG. 3, in the present embodiment, theself-moving robot movement boundary delimiting method mainly comprisesthe following steps:

first, determination of plane coordinate system: placing three basestations BS in the movement area A of the self-moving robot MR, suchthat the three base stations BS are assuredly not on the same line, andthus a plane can be determined using the three base stations BS; afterthe base stations BS are placed, determining a plane coordinate systemby the methods described above, wherein the plane coordinate system islocated in the movement area A of the self-moving robot.

second, obtainment of sample points: obtaining sample points P by MRautomatic gathering or artificial random gathering; and calculatingcoordinates of the respective sample points by Geometric Positioningmethod, Least Squares method or Time Difference Of Arrival method.

last, completion of boundary delimiting: delimiting a closed graphicaccording to the set of gathered sample points, wherein the delimitingmethod comprises straight line or curve interpolation or fitting; anddividing the movement area into an in-graphic area and an out-graphicarea after the closed graphic is determined, hereby achieving thedivision of the movement area of the self-moving robot. In theembodiment shown in FIG. 3, a closed graphic M is determined using fourgathered sample points P1 to P4. After the MR is set to be prohibitedfrom crossing the closed graphic M, as shown by a plurality of straightlines N1 and N2 with arrows in FIG. 3 which shows the actual movementposition of the MR, the MR only moves inside or outside the closedgraphic M and does not cross the closed graphic M.

Further, the self-moving robot may be programmed and set to allow theself-moving robot to complete tasks for a certain time or a certaindistance within the delimited boundary, and then leave the delimitedboundary to continue other tasks.

Third Embodiment

FIG. 4 is a schematic diagram of the third embodiment of the presentinvention. As shown in FIG. 4, in the present embodiment, theself-moving robot movement boundary delimiting method mainly comprisesthe following steps:

first, determination of three-dimensional coordinate system: placingfour base stations BS in the movement area A of the self-moving robotMR, such that the base stations BS form a three-dimensional space;determining a three-dimensional coordinate system after the basestations BS are placed, wherein when the MR is located in thethree-dimensional coordinate system, the coordinates of the MR can becalculated according to a signal transmission time.

second, obtainment of sample points: obtaining sample points P by MRautomatic gathering or artificial random gathering; and calculating thecoordinates of the respective sample points by Geometric Positioningmethod, Least Squares method or Time Difference Of Arrival method.

last, completion of boundary delimiting, as shown in FIG. 4: verticallyor non-vertically projecting the set of gathered sample points P ontothe XY plane or other plane, wherein the projection plane is a plane inwhich the movement area A of the self-moving robot is located; anddetermining a boundary using the mapped points P1′ to P4′ after thesample points P1 to P4 gathered in the space are onto the planecoordinate system XOY, wherein the boundary may be consisted of multiplestraight lines connected between the mapped points or may be an envelopecurve. As shown in FIG. 3, in the present embodiment, the boundary isthe curve Q. Then, the regional division is achieved by setting the MRto be prohibited from crossing the curve Q. As shown by a plurality ofstraight lines Z with arrows in FIG. 3 which shows the actual movementposition of the MR, after the MR is set to be prohibited from crossingthe curve Q, the MR only moves at one side of the curve Q and does notcross the curve Q to the other side. Similar to the first embodiment, ifthere are additional obstacles such as walls in the movement area A, theobstacles can be combined with the curve Q to achieve a completelyseparated regional division.

Therefore, in the present embodiment, the sample points are gatheredwhen the self-moving robot moves in the space. Then, the gatheredspatial sample points are projected onto the movement area A of theself-moving robot to form mapped points, and a straight line or a curveis determined using the mapped points. Then, the movement area isdivided in the manner of prohibiting from crossing the boundary.

Fourth Embodiment

FIG. 5 is a schematic diagram of the fourth embodiment of the presentinvention. As shown in FIG. 5 and in comparison with FIG. 4, in thepresent embodiment, the self-moving robot movement boundary delimitingmethod is substantially the same as that of the third embodiment inthat: in both methods, the sample points are gathered when theself-moving robot moves in the space; hereafter, the gathered spatialsample points are projected onto the movement area A of the self-movingrobot to form mapped points, and a straight line or a curve isdetermined with the mapped points; and then, the movement area isdivided in the manner of prohibiting from passing across the boundary.The two methods only differ in the graphics formed using the mappedpoints. In the third embodiment, the graphic is formed as the non-closedcurve Q, whereas in the present embodiment, the graphic is formed as aclosed graphic H.

The other technical contents of the present embodiment are the same asthose of the third embodiment and the detailed description thereof areomitted.

Fifth Embodiment

FIG. 6 is a schematic diagram of the fourth embodiment of the presentinvention. As shown in FIG. 6 and in comparison of FIG. 5, in thepresent embodiment, the self-moving robot movement boundary delimitingmethod is substantially the same as that of the fourth embodiment inthat: in both methods, the sample points are gathered when theself-moving robot moves in the space; hereafter, the gathered spatialsample points are projected onto the movement area A of the self-movingrobot to form mapped points, and a straight line or a curve isdetermined with the mapped points; and then, the movement area isdivided in the manner of prohibiting from passing across the boundary.The two methods only differ in the projecting directions. In the fourthembodiment, the projection is vertical, whereas in the presentembodiment, the projection is non-vertical. In the case of thenon-vertical projection, it is required to preset the projection angleand the projection direction in the processor program and then calculatethe coordinates finally projected on the plane. A closed pattern H′ isformed by the mapped points.

The other technical contents of the present embodiment are the same asthose of the fourth embodiment and the detailed description thereof areomitted.

Sixth Embodiment

FIG. 7 is a schematic diagram of the sixth embodiment of the presentinvention. As shown in FIG. 7, in the present embodiment, theself-moving robot movement boundary delimiting method mainly comprisesthe following steps:

first, determination of three-dimensional coordinate system: placingfour base stations BS in the movement area A of the self-moving robotMR, such that the base stations BS form a three-dimensional space;determining a three-dimensional coordinate system is determined afterthe base stations BS are placed, wherein when the MR is located in thethree-dimensional coordinate system, the coordinates of the MR can becalculated according to a signal transmission time.

second, obtainment of sample points: obtaining sample points P by MRautomatic gathering or artificial random gathering; and calculating thecoordinates of the respective sample points by Geometric Positioningmethod, Least Squares method or Time Difference Of Arrival method.

last, completion of boundary delimiting as shown in FIG. 7: under theassumption that there are four sample points P1-P4 in thethree-dimensional space, determining a plane U using three sample pointsP1, P2 and P3, or fitting out a plane U using three or more samplepoints; and achieving a regional division in the manner of prohibitingthe MR from crossing the plane. As shown in FIG. 7, after the boundaryis delimited, the MR only can move below the plane U and cannot crossthe plane U to move above the plane. It is to be noted that when thismethod is applied to a ground moving robot, the limitation to the robotby the plane U is the intersection line of the plane U and the ground.

The method of the present embodiment is applicable to both groundself-moving robots and flying self-moving robots.

Seventh Embodiment

FIG. 8 is a schematic diagram of the seventh embodiment of the presentinvention. As shown in FIG. 8, in the present embodiment, theself-moving robot movement boundary delimiting method mainly comprisesthe following steps:

first, determination of three-dimensional coordinate system: placingfour base stations BS in the movement area A of the self-moving robotMR, such that the base stations BS form a three-dimensional space;determining a three-dimensional coordinate system after the basestations BS are placed, wherein when the MR is located in thethree-dimensional coordinate system, the coordinates of the MR can becalculated according to a signal transmission time.

second, obtainment of sample points: obtaining sample points P by MRautomatic gathering or artificial random gathering; and calculating thecoordinates of the respective sample points by Geometric Positioningmethod, Least Squares method or Time Difference Of Arrival method.

last, completion of boundary delimiting as shown in FIG. 8:three-dimensionally constructing a three-dimensional space using aplurality of sample points P1 to P9 by interpolating or fitting thesample points into a combination of standard three-dimensional shapes(i.e., a combination of cuboid C and triangular pyramid D); andachieving a regional division by prohibiting the self-moving robot frommoving outside the range defined by the three-dimensional space. Asshown in FIG. 8, after the boundary is delimited, the MR only can moveinside or outside the three-dimensional space and cannot cross thesurface thereof. The three-dimensional space may be constructed as asingle standard three-dimensional shape such as cube, cuboid, sphere ortriangular pyramid or a combination of two or more of standardthree-dimensional shapes by interpolating or fitting the sample points.

The method of the present embodiment is mainly applicable to flyingself-moving robots.

As can be seen from the above seven embodiments, in the presentinvention, a plurality of base stations are placed in the movement areaof the self-moving robot and the coordinates of the self-moving robotare determined by measuring the distances from the self-moving robot tothe base stations, hereby delimiting a boundary. The areas divided bythe boundary may be set as a working area or a non-working area. In thesetting, the working area may also use the default area delimited by theself-moving robot, or may be selected artificially. In the first andsecond embodiments, the sampling is performed based on the planemovement trajectory, and the boundary is delimited on the plane. In thethird, fourth and fifth embodiments, the sampling is performed based onthe spatial movement trajectory, the vertical or non-vertical projectionis conducted to form the mapped points on the plane, and then theboundary is delimited using the mapped points. In the sixth and seventhembodiments, the sampling is performed based on the spatial movementtrajectory, and the boundary is delimited in the space.

In sum, the present invention provides a self-moving robot movementboundary delimiting method, which achieves regional division by distancemeasurement and positioning based on stationary base stations and haveobvious advantages in term of either accuracy or convenience compared tothe prior art.

What is claimed is:
 1. A self-moving robot movement boundary determiningmethod, comprising: obtaining positions of sample points obtained alonga desired boundary of a self-moving robot by moving a positioning devicecoupling with the self-moving robot along the desired boundary; anddetermining a movement boundary according to the positions of the samplepoints, wherein the self-moving robot is set to work inside or outsidethe movement boundary.
 2. The method according to claim 1, wherein thepositioning device coupling with the self-moving robot is moved alongthe desired boundary by: controlling the self-moving robot with thepositioning device mounted thereon to move along the desired boundary bya user via an interactive device.
 3. The method according to claim 1,wherein the positioning device coupling with the self-moving robot ismoved along the desired boundary by: moving the self-moving robot withthe positioning device mounted thereon to move along the desiredboundary while the self-moving robot is held by a user.
 4. The methodaccording to claim 1, wherein the positioning device coupling with theself-moving robot is moved along the desired boundary by: moving thepositioning device detached from the self-moving robot along the desiredboundary.
 5. The method according to claim 1, wherein the obtaining thepositions of the sample points comprises: obtaining the positions of thesample points according to a position of a base station, wherein thebase station is in communication with the positioning device couplingwith the self-moving robot, and a position of the base station is known.6. The method according to claim 5, wherein the obtaining the positionsof the sample points according to a position of a base stationcomprises: setting up at least three base stations in a movement area ofthe self-moving robot, to establish a coordinate system according torelative locations between the at least three base stations; anddetermining coordinates of the sample points in the coordinate system toobtain the positions of sample points.
 7. The method according to claim6, wherein the determining the coordinates of the sample points in thecoordinate system comprises: calculating the coordinates of the samplepoints in the coordinate system by measuring signal transmission timebetween the positioning device coupling with the self-moving robot andthe respective base stations, according to Geometric Positioning method,Least Squares method or Time Difference Of Arrival method.
 8. The methodaccording to claim 6, wherein the coordinate system is established byusing one of the at least three base stations as an origin, andcalculating distances between the respective base stations by measuringsignal transmission time between the respective base stations, wherebydetermining the coordinates of the respective base stations in thecoordinate system.
 9. The method according to claim 6, wherein thecoordinate system is a plane coordinate system established using threebase stations, and a plane in which the plane coordinate system islocated is coplanar with the movement area of the self-moving robot. 10.The method according to claim 6, wherein the coordinate system is athree-dimensional coordinate system established using four basestations.
 11. The method according to claim 10, wherein the determininga movement boundary according to the positions of the sample pointscomprises: vertically or non-vertically projecting the sample pointsonto a plane, in which the movement area of the self-moving robot islocated, to form mapped points, and the boundary is formed by connectingthe mapped points.
 12. The method according to claim 10, wherein themovement boundary is a surface of a three-dimensional space constructedusing the sample points by interpolating or fitting the sample pointsinto a standard three-dimensional shape or a combination of standardthree-dimensional shapes.
 13. The method according to claim 12, whereinthe standard three-dimensional shape is cube, cuboid, sphere ortriangular pyramid.
 14. The method according to claim 1, wherein thesample points are obtained at a preset time interval performedautomatically by the self-moving robot or obtained at a random intervalcontrolled by a user.
 15. The method according to claim 1, wherein themovement boundary is an open or closed line formed by the sample points.16. A self-moving robot movement boundary determining method,comprising: obtaining positions of sample points obtained along adesired boundary of a self-moving robot by moving the self-moving robotalong the desired boundary; and determining a movement boundaryaccording to the positions of the sample points, wherein the self-movingrobot is set to work inside or outside the movement boundary.
 17. Themethod according to claim 16, wherein the obtaining the positions of thesample points comprises: obtaining the positions of the sample pointsaccording to a position of a base station, wherein the base station isin communication with the self-moving robot, and a position of the basestation is known.
 18. The method according to claim 17, wherein theobtaining the positions of the sample points according to a position ofa base station comprises: setting up at least three base stations in amovement area of the self-moving robot, to establish a coordinate systemaccording to relative locations between the at least three basestations; and determining coordinates of the sample points in thecoordinate system to obtain the positions of sample points.